/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2017 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f0xx_hal.h"

/* USER CODE BEGIN Includes */
#include <stdbool.h>
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim14;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM14_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART1_UART_Init(void);

void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

int fputc(int ch, FILE *f)
{
    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
    return ch;
}

void Stepper_SetCurrent(float amp)
{
    if (amp > 1.2) {
        amp = 1.2;
    }
    //current = Vref/(5*Isence) Isence = 0.1Ω
    __HAL_TIM_SET_COMPARE(&htim14, TIM_CHANNEL_1, amp * (2555.0 / 0.5 / 3.3)); //(amp/0.5)/3.3*256);
}

void LED_Set(bool light)
{
    if (light) {
        HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
    } else {
        HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
    }
}

void Delay()
{
    for (int i = 0; i < 300; i++)
        __nop();
}

/* USER CODE END 0 */

int main(void)
{

    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration----------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_TIM14_Init();
    MX_I2C1_Init();
    MX_USART1_UART_Init();

    /* USER CODE BEGIN 2 */
    RS485_TX_MODE();

    HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1); //Stepper pwm adc

    Stepper_SetCurrent(0.05);

    HAL_GPIO_WritePin(STEPPER_DIR_GPIO_Port, STEPPER_DIR_Pin, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(STEPPER_RST_GPIO_Port, STEPPER_RST_Pin, GPIO_PIN_SET);
    HAL_GPIO_WritePin(STEPPER_STEP_GPIO_Port, STEPPER_STEP_Pin, GPIO_PIN_RESET);

    HAL_Delay(100);

    uint8_t value[2];

    for (;;) {
        HAL_GPIO_WritePin(STEPPER_STEP_GPIO_Port, STEPPER_STEP_Pin, GPIO_PIN_SET);
        Delay();

        if (HAL_I2C_Mem_Read(&hi2c1, 0x36 << 1, 0x0D, I2C_MEMADD_SIZE_8BIT, value, 2, 1000) != HAL_OK) {
            printf("Read Bad!!%d\n", hi2c1.ErrorCode);
        } else {
            printf("%d\n", *(uint16_t *)value);
        }

        HAL_GPIO_WritePin(STEPPER_STEP_GPIO_Port, STEPPER_STEP_Pin, GPIO_PIN_RESET);
        Delay();

        if (*(uint16_t *)value == 0) {
            LED_Set(true);
            HAL_Delay(200);
            LED_Set(false);
            HAL_Delay(200);
            LED_Set(true);
            HAL_Delay(200);
            LED_Set(false);
            HAL_Delay(200);
            LED_Set(true);
        }
    }
    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1) {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

    RCC_OscInitTypeDef RCC_OscInitStruct;
    RCC_ClkInitTypeDef RCC_ClkInitStruct;
    RCC_PeriphCLKInitTypeDef PeriphClkInit;

    /**Initializes the CPU, AHB and APB busses clocks
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = 16;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
    RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    /**Initializes the CPU, AHB and APB busses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
        | RCC_CLOCKTYPE_PCLK1;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1 | RCC_PERIPHCLK_I2C1;
    PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
    PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    /**Configure the Systick interrupt time
    */
    HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);

    /**Configure the Systick
    */
    HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

    /* SysTick_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* I2C1 init function */
static void MX_I2C1_Init(void)
{

    hi2c1.Instance = I2C1;
    hi2c1.Init.Timing = 0x00000001;
    hi2c1.Init.OwnAddress1 = 108;
    hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
    hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
    hi2c1.Init.OwnAddress2 = 0;
    hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
    hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
    hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
    if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    /**Configure Analogue filter
    */
    if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    /**Configure Digital filter
    */
    if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    /**I2C Fast mode Plus enable
    */
    __HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C1);
}

/* TIM14 init function */
static void MX_TIM14_Init(void)
{

    TIM_OC_InitTypeDef sConfigOC;

    htim14.Instance = TIM14;
    htim14.Init.Prescaler = 0;
    htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim14.Init.Period = 256;
    htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;
    htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_Base_Init(&htim14) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    if (HAL_TIM_PWM_Init(&htim14) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }

    HAL_TIM_MspPostInit(&htim14);
}

/* USART1 init function */
static void MX_USART1_UART_Init(void)
{

    huart1.Instance = USART1;
    huart1.Init.BaudRate = 115200;
    huart1.Init.WordLength = UART_WORDLENGTH_8B;
    huart1.Init.StopBits = UART_STOPBITS_1;
    huart1.Init.Parity = UART_PARITY_NONE;
    huart1.Init.Mode = UART_MODE_TX_RX;
    huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart1.Init.OverSampling = UART_OVERSAMPLING_16;
    huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
    if (HAL_UART_Init(&huart1) != HAL_OK) {
        _Error_Handler(__FILE__, __LINE__);
    }
}

/** Configure pins as
        * Analog
        * Input
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

    GPIO_InitTypeDef GPIO_InitStruct;

    /* GPIO Ports Clock Enable */
    __HAL_RCC_GPIOF_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();

    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);

    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOA, USART1_DE_Pin | STEPPER_DIR_Pin | STEPPER_STEP_Pin | STEPPER_RST_Pin, GPIO_PIN_RESET);

    /*Configure GPIO pin : STEPPER_FAULT_Pin */
    GPIO_InitStruct.Pin = STEPPER_FAULT_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(STEPPER_FAULT_GPIO_Port, &GPIO_InitStruct);

    /*Configure GPIO pin : LED_Pin */
    GPIO_InitStruct.Pin = LED_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);

    /*Configure GPIO pins : ENCODER_OUT_Pin ADC_IN_Pin */
    GPIO_InitStruct.Pin = ENCODER_OUT_Pin | ADC_IN_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /*Configure GPIO pins : USART1_DE_Pin STEPPER_DIR_Pin STEPPER_STEP_Pin STEPPER_RST_Pin */
    GPIO_InitStruct.Pin = USART1_DE_Pin | STEPPER_DIR_Pin | STEPPER_STEP_Pin | STEPPER_RST_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void _Error_Handler(char *file, int line)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    while (1) {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT

/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
void assert_failed(uint8_t *file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}

#endif

/**
  * @}
  */

/**
  * @}
*/

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
